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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
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<div class="title">pcl::on_nurbs::FittingSurface类 参考</div>  </div>
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<p>Fitting a B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO  
 <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="fitting__surface__pdm_8h_source.html">fitting_surface_pdm.h</a>&gt;</code></p>
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类 pcl::on_nurbs::FittingSurface 继承关系图:</div>
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  <img src="classpcl_1_1on__nurbs_1_1_fitting_surface.png" usemap="#pcl::on_5Fnurbs::FittingSurface_map" alt=""/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface_1_1myvec.html">myvec</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_surface_1_1_parameter.html">Parameter</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for fitting  <a href="structpcl_1_1on__nurbs_1_1_fitting_surface_1_1_parameter.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:af77980d5656523a9b85e061e892a7d90"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#af77980d5656523a9b85e061e892a7d90">FittingSurface</a> (<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;ns)</td></tr>
<tr class="memdesc:af77980d5656523a9b85e061e892a7d90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing with the B-Spline surface given in argument 2.  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#af77980d5656523a9b85e061e892a7d90">更多...</a><br /></td></tr>
<tr class="separator:af77980d5656523a9b85e061e892a7d90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11c742c7cf3cd8876806298da3dfafde"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a11c742c7cf3cd8876806298da3dfafde">FittingSurface</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, Eigen::Vector3d z=Eigen::Vector3d(0.0, 0.0, 1.0))</td></tr>
<tr class="memdesc:a11c742c7cf3cd8876806298da3dfafde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing B-Spline surface using initNurbsPCA(...).  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a11c742c7cf3cd8876806298da3dfafde">更多...</a><br /></td></tr>
<tr class="separator:a11c742c7cf3cd8876806298da3dfafde"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f8c8139e885ea159f4e24df6c34a7cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a2f8c8139e885ea159f4e24df6c34a7cd">refine</a> (int dim)</td></tr>
<tr class="memdesc:a2f8c8139e885ea159f4e24df6c34a7cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refines surface by inserting a knot in the middle of each element.  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a2f8c8139e885ea159f4e24df6c34a7cd">更多...</a><br /></td></tr>
<tr class="separator:a2f8c8139e885ea159f4e24df6c34a7cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a305c0ff9b2267294513d577ca17b5e96"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a305c0ff9b2267294513d577ca17b5e96">assemble</a> (<a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_surface_1_1_parameter.html">Parameter</a> param=<a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_surface_1_1_parameter.html">Parameter</a>())</td></tr>
<tr class="memdesc:a305c0ff9b2267294513d577ca17b5e96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble the system of equations for fitting  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a305c0ff9b2267294513d577ca17b5e96">更多...</a><br /></td></tr>
<tr class="separator:a305c0ff9b2267294513d577ca17b5e96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2b4bd6dadbdc157338ad8c21e387245"><td class="memItemLeft" align="right" valign="top"><a id="ab2b4bd6dadbdc157338ad8c21e387245"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#ab2b4bd6dadbdc157338ad8c21e387245">solve</a> (double damp=1.0)</td></tr>
<tr class="memdesc:ab2b4bd6dadbdc157338ad8c21e387245"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline surface if a solution can be obtained. <br /></td></tr>
<tr class="separator:ab2b4bd6dadbdc157338ad8c21e387245"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4dc73d878d37d8d219f6ae2e027f29a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#ab4dc73d878d37d8d219f6ae2e027f29a">updateSurf</a> (double damp)</td></tr>
<tr class="memdesc:ab4dc73d878d37d8d219f6ae2e027f29a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update surface according to the current system of equations.  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#ab4dc73d878d37d8d219f6ae2e027f29a">更多...</a><br /></td></tr>
<tr class="separator:ab4dc73d878d37d8d219f6ae2e027f29a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a837f1c7b161fd956832528998edecff3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a837f1c7b161fd956832528998edecff3">setInvMapParams</a> (unsigned in_max_steps, double in_accuracy)</td></tr>
<tr class="memdesc:a837f1c7b161fd956832528998edecff3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set parameters for inverse mapping  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a837f1c7b161fd956832528998edecff3">更多...</a><br /></td></tr>
<tr class="separator:a837f1c7b161fd956832528998edecff3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad50c7dfcbdf1f2d10f3e292dcfa1119c"><td class="memItemLeft" align="right" valign="top"><a id="ad50c7dfcbdf1f2d10f3e292dcfa1119c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#ad50c7dfcbdf1f2d10f3e292dcfa1119c">setQuiet</a> (bool val)</td></tr>
<tr class="memdesc:ad50c7dfcbdf1f2d10f3e292dcfa1119c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable/Disable debug outputs in console. <br /></td></tr>
<tr class="separator:ad50c7dfcbdf1f2d10f3e292dcfa1119c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
静态 Public 成员函数</h2></td></tr>
<tr class="memitem:a880bf8db0ac9f8cface4351255d694ae"><td class="memItemLeft" align="right" valign="top"><a id="a880bf8db0ac9f8cface4351255d694ae"></a>
static void&#160;</td><td class="memItemRight" valign="bottom"><b>refine</b> (<a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, int dim)</td></tr>
<tr class="separator:a880bf8db0ac9f8cface4351255d694ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c84192ff2fa82a876e57f26d55ebbbe"><td class="memItemLeft" align="right" valign="top"><a id="a5c84192ff2fa82a876e57f26d55ebbbe"></a>
static std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a5c84192ff2fa82a876e57f26d55ebbbe">getElementVector</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, int dim)</td></tr>
<tr class="memdesc:a5c84192ff2fa82a876e57f26d55ebbbe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the elements of a B-Spline surface. <br /></td></tr>
<tr class="separator:a5c84192ff2fa82a876e57f26d55ebbbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ab22ee4a35c36ff9979f700adf208dd"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a2ab22ee4a35c36ff9979f700adf208dd">inverseMapping</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt, const Eigen::Vector2d &amp;hint, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;tu, Eigen::Vector3d &amp;tv, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:a2ab22ee4a35c36ff9979f700adf208dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a2ab22ee4a35c36ff9979f700adf208dd">更多...</a><br /></td></tr>
<tr class="separator:a2ab22ee4a35c36ff9979f700adf208dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cf17e98b5746c7189eefe4a2dfcdfe0"><td class="memItemLeft" align="right" valign="top"><a id="a1cf17e98b5746c7189eefe4a2dfcdfe0"></a>
static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><b>inverseMapping</b> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt, const Eigen::Vector2d &amp;hint, Eigen::Vector3d &amp;p, int maxSteps, double accuracy, bool quiet)</td></tr>
<tr class="separator:a1cf17e98b5746c7189eefe4a2dfcdfe0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ad87f53f0dd511e40d1120474204fa8"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a7ad87f53f0dd511e40d1120474204fa8">findClosestElementMidPoint</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt)</td></tr>
<tr class="memdesc:a7ad87f53f0dd511e40d1120474204fa8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a point pt, the function finds the closest midpoint of the elements of the surface.  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a7ad87f53f0dd511e40d1120474204fa8">更多...</a><br /></td></tr>
<tr class="separator:a7ad87f53f0dd511e40d1120474204fa8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affc95f8d5c0fdb0a3ee0361763a06468"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#affc95f8d5c0fdb0a3ee0361763a06468">inverseMappingBoundary</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;tu, Eigen::Vector3d &amp;tv, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:affc95f8d5c0fdb0a3ee0361763a06468"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the boundary of the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#affc95f8d5c0fdb0a3ee0361763a06468">更多...</a><br /></td></tr>
<tr class="separator:affc95f8d5c0fdb0a3ee0361763a06468"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afeccabf5a44c0b6ed5b14a2e9b2a553b"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#afeccabf5a44c0b6ed5b14a2e9b2a553b">inverseMappingBoundary</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt, int side, double hint, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;tu, Eigen::Vector3d &amp;tv, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:afeccabf5a44c0b6ed5b14a2e9b2a553b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on one side of the boundary of the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#afeccabf5a44c0b6ed5b14a2e9b2a553b">更多...</a><br /></td></tr>
<tr class="separator:afeccabf5a44c0b6ed5b14a2e9b2a553b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc368cf1519d2f26892f26dc20a91194"><td class="memItemLeft" align="right" valign="top"><a id="afc368cf1519d2f26892f26dc20a91194"></a>
static <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#afc368cf1519d2f26892f26dc20a91194">initNurbs4Corners</a> (int order, <a class="el" href="class_o_n__3d_point.html">ON_3dPoint</a> ll, <a class="el" href="class_o_n__3d_point.html">ON_3dPoint</a> lr, <a class="el" href="class_o_n__3d_point.html">ON_3dPoint</a> ur, <a class="el" href="class_o_n__3d_point.html">ON_3dPoint</a> ul)</td></tr>
<tr class="memdesc:afc368cf1519d2f26892f26dc20a91194"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializing a B-Spline surface using 4 corners <br /></td></tr>
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<tr class="memitem:abefa5e779aa11030cca0c72154280c9f"><td class="memItemLeft" align="right" valign="top"><a id="abefa5e779aa11030cca0c72154280c9f"></a>
static <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#abefa5e779aa11030cca0c72154280c9f">initNurbsPCA</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, Eigen::Vector3d z=Eigen::Vector3d(0.0, 0.0, 1.0))</td></tr>
<tr class="memdesc:abefa5e779aa11030cca0c72154280c9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializing a B-Spline surface using principal-component-analysis and eigen values <br /></td></tr>
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static <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a76f2a78ca1e0578a45ccb07c82563a2c">initNurbsPCABoundingBox</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, Eigen::Vector3d z=Eigen::Vector3d(0.0, 0.0, 1.0))</td></tr>
<tr class="memdesc:a76f2a78ca1e0578a45ccb07c82563a2c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializing a B-Spline surface using principal-component-analysis and bounding box of points <br /></td></tr>
<tr class="separator:a76f2a78ca1e0578a45ccb07c82563a2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public 属性</h2></td></tr>
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<a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_nurbs</b></td></tr>
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<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>m_data</b></td></tr>
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Protected 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#af07772fcd72aeae8e9860f9d0add753d">init</a> ()</td></tr>
<tr class="memdesc:af07772fcd72aeae8e9860f9d0add753d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialisation of member variables <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a48709b019ee2c0a3f2b0f25b512f34ba">assembleInterior</a> (double wInt, unsigned &amp;row)</td></tr>
<tr class="memdesc:a48709b019ee2c0a3f2b0f25b512f34ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble point-to-surface constraints for interior points. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#ab334f2d740a058a2575eeafb81d59fff">assembleBoundary</a> (double wBnd, unsigned &amp;row)</td></tr>
<tr class="memdesc:ab334f2d740a058a2575eeafb81d59fff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble point-to-surface constraints for boundary points. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a74c49af371e86e2cc49683c3706c2eb6">addPointConstraint</a> (const Eigen::Vector2d &amp;params, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a74c49af371e86e2cc49683c3706c2eb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: point-to-surface distance (point-distance-minimization). <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a5c85a45243d71d9cd71ed06ecc58a7f5">addCageInteriorRegularisation</a> (double weight, unsigned &amp;row)</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a0025f743ad3d03df70168a86a07a926a">addCageBoundaryRegularisation</a> (double weight, int side, unsigned &amp;row)</td></tr>
<tr class="memdesc:a0025f743ad3d03df70168a86a07a926a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: boundary smoothness by control point regularisation. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a7566797fb6ffe536f5838d02c57ba447">addCageCornerRegularisation</a> (double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a7566797fb6ffe536f5838d02c57ba447"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: corner smoothness by control point regularisation. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a92261dfbe56fe1d1d9235f814e65c1b4">addInteriorRegularisation</a> (int order, int resU, int resV, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a92261dfbe56fe1d1d9235f814e65c1b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: interior smoothness by derivatives regularisation. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html#a74045f1ef3b665b5e560abc7d7bdd712">addBoundaryRegularisation</a> (int order, int resU, int resV, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a74045f1ef3b665b5e560abc7d7bdd712"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: boundary smoothness by derivatives regularisation. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>grc2gl</b> (int I, int J)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>lrc2gl</b> (int E, int F, int i, int j)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>gl2gc</b> (int A)</td></tr>
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Protected 属性</h2></td></tr>
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<a class="el" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_solver</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>in_max_steps</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>in_accuracy</b></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Fitting a B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO </p>
<dl class="section author"><dt>作者</dt><dd>Thomas Mörwald </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="af77980d5656523a9b85e061e892a7d90"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af77980d5656523a9b85e061e892a7d90">&#9670;&nbsp;</a></span>FittingSurface() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
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          <td class="memname">pcl::on_nurbs::FittingSurface::FittingSurface </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>ns</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor initializing with the B-Spline surface given in argument 2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 3D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ns</td><td>B-Spline surface used for fitting. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a11c742c7cf3cd8876806298da3dfafde"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a11c742c7cf3cd8876806298da3dfafde">&#9670;&nbsp;</a></span>FittingSurface() <span class="overload">[2/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingSurface::FittingSurface </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d&#160;</td>
          <td class="paramname"><em>z</em> = <code>Eigen::Vector3d(0.0,&#160;0.0,&#160;1.0)</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor initializing B-Spline surface using initNurbsPCA(...). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>the polynomial order of the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 2D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>vector defining front face of surface. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a305c0ff9b2267294513d577ca17b5e96"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a305c0ff9b2267294513d577ca17b5e96">&#9670;&nbsp;</a></span>assemble()</h2>

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          <td class="memname">virtual void pcl::on_nurbs::FittingSurface::assemble </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_surface_1_1_parameter.html">Parameter</a>&#160;</td>
          <td class="paramname"><em>param</em> = <code><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_surface_1_1_parameter.html">Parameter</a>()</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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</div><div class="memdoc">

<p>Assemble the system of equations for fitting </p>
<ul>
<li>for large point-clouds this is time consuming.</li>
<li>should be done once before refinement to initialize the starting points for point inversion. </li>
</ul>

</div>
</div>
<a id="a7ad87f53f0dd511e40d1120474204fa8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7ad87f53f0dd511e40d1120474204fa8">&#9670;&nbsp;</a></span>findClosestElementMidPoint()</h2>

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          <td class="memname">static Eigen::Vector2d pcl::on_nurbs::FittingSurface::findClosestElementMidPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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</div><div class="memdoc">

<p>Given a point pt, the function finds the closest midpoint of the elements of the surface. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest midpoint of the elements will be computed. return closest midpoint in parametric domain. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a2ab22ee4a35c36ff9979f700adf208dd">&#9670;&nbsp;</a></span>inverseMapping()</h2>

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          <td class="memname">static Eigen::Vector2d pcl::on_nurbs::FittingSurface::inverseMapping </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>hint</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tu</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tv</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the surface will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">hint</td><td>the starting point in parametric domain (warning: may lead to convergence at local minima). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest point on surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tu</td><td>the tangent vector at point p in u-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tv</td><td>the tangent vector at point p in v-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on surface in parametric domain. </dd></dl>

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<a id="affc95f8d5c0fdb0a3ee0361763a06468"></a>
<h2 class="memtitle"><span class="permalink"><a href="#affc95f8d5c0fdb0a3ee0361763a06468">&#9670;&nbsp;</a></span>inverseMappingBoundary() <span class="overload">[1/2]</span></h2>

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          <td class="memname">static Eigen::Vector2d pcl::on_nurbs::FittingSurface::inverseMappingBoundary </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tu</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tv</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the boundary of the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the surface will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest boundary point on surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tu</td><td>the tangent vector at point p in u-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tv</td><td>the tangent vector at point p in v-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on surface in parametric domain. </dd></dl>

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<a id="afeccabf5a44c0b6ed5b14a2e9b2a553b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afeccabf5a44c0b6ed5b14a2e9b2a553b">&#9670;&nbsp;</a></span>inverseMappingBoundary() <span class="overload">[2/2]</span></h2>

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          <td class="memname">static Eigen::Vector2d pcl::on_nurbs::FittingSurface::inverseMappingBoundary </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>side</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>hint</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tu</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tv</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on one side of the boundary of the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the surface will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">side</td><td>the side of the boundary (NORTH, SOUTH, EAST, WEST) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">hint</td><td>the starting point in parametric domain (warning: may lead to convergence at local minima). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest boundary point on surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tu</td><td>the tangent vector at point p in u-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tv</td><td>the tangent vector at point p in v-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on surface in parametric domain. </dd></dl>

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<a id="a2f8c8139e885ea159f4e24df6c34a7cd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2f8c8139e885ea159f4e24df6c34a7cd">&#9670;&nbsp;</a></span>refine()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingSurface::refine </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>dim</em></td><td>)</td>
          <td></td>
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<p>Refines surface by inserting a knot in the middle of each element. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dim</td><td>dimension of refinement (0,1) </td></tr>
  </table>
  </dd>
</dl>

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<a id="a837f1c7b161fd956832528998edecff3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a837f1c7b161fd956832528998edecff3">&#9670;&nbsp;</a></span>setInvMapParams()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingSurface::setInvMapParams </td>
          <td>(</td>
          <td class="paramtype">unsigned&#160;</td>
          <td class="paramname"><em>in_max_steps</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>in_accuracy</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Set parameters for inverse mapping </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">in_max_steps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">in_accuracy</td><td>stops iteration if specified accuracy is reached. </td></tr>
  </table>
  </dd>
</dl>

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<a id="ab4dc73d878d37d8d219f6ae2e027f29a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab4dc73d878d37d8d219f6ae2e027f29a">&#9670;&nbsp;</a></span>updateSurf()</h2>

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          <td class="memname">virtual void pcl::on_nurbs::FittingSurface::updateSurf </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>damp</em></td><td>)</td>
          <td></td>
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<p>Update surface according to the current system of equations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">damp</td><td>damping factor from one iteration to the other. </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_surface_t_d_m.html#ad7222d86f94052a3e384295655c67692">pcl::on_nurbs::FittingSurfaceTDM</a> 重载.</p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>surface/include/pcl/surface/on_nurbs/<a class="el" href="fitting__surface__pdm_8h_source.html">fitting_surface_pdm.h</a></li>
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